/**
* This file is part of ORB-SLAM2.
*
* Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)
* For more information see <https://github.com/raulmur/ORB_SLAM2>
*
* ORB-SLAM2 is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM2 is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with ORB-SLAM2. If not, see <http://www.gnu.org/licenses/>.
*/


#ifndef YGZ_VIEWER_H_
#define YGZ_VIEWER_H_

#include "FrameDrawer.h"
#include "MapDrawer.h"
#include "Tracking.h"
#include "System.h"

// 可视化类，基本没动
namespace ygz {

    class Tracking;

    class FrameDrawer;

    class MapDrawer;

    class System;

    class Viewer {
    public:
        Viewer(System *pSystem, FrameDrawer *pFrameDrawer, MapDrawer *pMapDrawer, Tracking *pTracking,
               const string &strSettingPath);

        // Main thread function. Draw points, keyframes, the current camera pose and the last processed
        // frame. Drawing is refreshed according to the camera fps. We use Pangolin.
        void Run();

        void RequestFinish();

        void RequestStop();

        bool isFinished();

        bool isStopped();

        void Release();

    private:

        bool Stop();

        System *mpSystem;
        FrameDrawer *mpFrameDrawer;
        MapDrawer *mpMapDrawer;
        Tracking *mpTracker;

        // 1/fps in ms
        double mT;
        float mImageWidth, mImageHeight;

        float mViewpointX, mViewpointY, mViewpointZ, mViewpointF;

        bool CheckFinish();

        void SetFinish();

        bool mbFinishRequested;
        bool mbFinished;
        std::mutex mMutexFinish;

        bool mbStopped;
        bool mbStopRequested;
        std::mutex mMutexStop;

    };

}


#endif // VIEWER_H
	

